Spherical coordinates manipulating mechanism for inner frame pivotal configuration

ABSTRACT

A spherical coordinates manipulating mechanism for inner frame pivotal configuration. There are total twelve axles in the mechanism for pivoting with four outer rotating members, four arc-link rotating members and four inner rotating members individually, and each axle of these rotating members is specifically directed into the center of the outer frame for concentrically rotating each arc-link set along a specified geometric orbit between the outer frame and inner frame. Therefore, the final output torque can be integrated via serial linking and parallel cooperating with the twelve axles. The mechanism can be equipped with single effector arc-link set or with double effector arc-link sets. In this divisional application. There are three embodiments for sufficiently introducing the spherical coordinates manipulating mechanism for inner frame pivotal configuration.

FIELD OF THE INVENTION

This divisional application relates to a spherical coordinatesmanipulating mechanism capable of maneuvering payloads by carrying outmultiple degrees-of-freedom.

BACKGROUND OF THE INVENTION

This divisional application is continued from our new allowed invention,which has received notice of allowance from USPTO (US20150082934A1).According to MPEP 201.06. The disclosure of a divisional applicationmust be the same as the disclosure of the prior-filed application, orinclude at least that portion of the disclosure of the prior-fieldapplication, or include at least that portion of the disclosure of theprior-filed application that is germane to the invention claimed in thedivisional application. The disclosure divisional application cannotinclude anything which would constitute new matter if inserted in theprior-filed application.

The new allowed invention is inherited the same twelve axles geometricconfiguration from our pre-inventions which has been issued by USPTO(U.S. Pat. No. 8,579,714B2/US20120083347A1). An important issue is howto make a twelve axles mechanism operate smoothly without mutualinterference and/or singularity while contemplating practical design andregulating geometric limitation. The two geometric tetrahedron frameswithout changing its original geometric definition is inherited. “Atleast one” effector arc-link set is introduced in the new allowedinvention. This improvement is substantially extending the utility ofspherical coordinates manipulating mechanism for spherical coordinatekinematics.

According to the new allowed invention, the geometrical and symmetricalcharacters are classified as outer and inner configuration. Sixembodiments can be classified as two groups of claims, claim 1˜claim 5grouped for outer frame pivotal configuration are adapted in the newallowed invention, claim 6˜claim 10 grouped for inner frame pivotalconfiguration are continued in this divisional application. Threeembodiments belong to outer frame pivotal configuration respectivelydemonstrated at FIG. 1/FIG. 11/FIG. 13. The other three embodimentsbelong to inner frame pivot configuration respectively demonstrated atFIG. 10/FIG. 12/FIG. 14 are continued and renamed as FIG. 1/FIG. 8/FIG.9. For easier understanding geometrical definition and hierarchyrelation and connecting method between each mechanical parts, a genericembodiment is specifically disassembled into elements level. Theseelements are continually demonstrated as FIG. 2˜FIG. 7.

Referring to the new allowed invention, the arc length of the effectorarc-link is less than or equal to 90°, but arc length of the effectorarc-link 5 x being zero degree is still within the scope, shown as FIG.15. It is similar to a folding fan when its spreading ribs fold togetherto form a single radial one. In this specific case, the effectorarc-link whose two ends are aligned is folded as a radial link and thusthere is no need of installing the end effector. It is easily violatedthe geometrical acknowledge of arc-link. For preventing confusion, FIG.15 is deleted and the effector arc-link is suggested to suffer morerestriction. In this divisional application, the arc length of effectorarc-link is restricted as less than 90° but greater than 30°.

SUMMARY OF THE INVENTION

A spherical coordinates manipulating mechanism for inner frame pivotalconfiguration comprises an outer frame assembly, an inner frameassembly, four arc-link sets and at least one effector arc-link set. Theouter frame assembly comprises an outer frame and four outer rotatingmembers. The inner frame assembly comprises an inner frame and fourinner rotating members installed into the inner frame. Each arc-link setcomprises an outer arc-link, an inner arc-link and an arc-link rotatingmember. Each effector arc-link set comprises an effector arc-link, aneffector rotating member and an end effector. There are total twelveaxles in the mechanism for pivoting with four outer rotating members,four arc-link rotating members and four inner rotating membersindividually, and each axle of these rotating members is specificallydirected into the center of the outer frame for concentrically rotatingeach arc-link set along a specified geometric orbit between the outerframe and inner frame. Therefore, the final output torque can beintegrated via serial linking and parallel cooperating with the twelveaxles.

The “at least one” effector arc-link set was emphasized by the newallowed invention that the quantity of the effector arc-link set can beoptional. The mechanism can be equipped with single effector arc-linkset or with double effector arc-link sets. In this divisionalapplication. There are three embodiments for sufficiently introducingthe spherical coordinates manipulating mechanism for inner frame pivotalconfiguration.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is a perspective view of single inner frame pivotalconfiguration;

FIG. 1B is a front view of FIG. 1A;

FIG. 1C is a side view of FIG. 1A;

FIG. 2A is a perspective view of the outer frame assembly;

FIG. 2B shows a geometric definition of FIG. 2A;

FIG. 2C is a perspective view of another type of the outer frameassembly;

FIG. 2D shows a geometric definition of FIG. 2C;

FIG. 3A is a perspective view of the inner frame assembly;

FIG. 3B shows a geometric definition of FIG. 3A;

FIG. 3C is a perspective view of another type of the inner frameassembly;

FIG. 3D shows a geometric definition of FIG. 3C;

FIG. 4A is a perspective view of outer rotating member inboard mounting;

FIG. 4B is a perspective view of inner rotating member outboardmounting;

FIG. 4C is a perspective view of another type of inboard mounting ofFIG. 4A;

FIG. 4D is a perspective view of another type of outboard mounting ofFIG. 4B;

FIG. 5A is a perspective view of the four arc-link sets;

FIG. 5B shows a geometric definition of FIG. 5A;

FIG. 6A is a perspective view of the inner frame pivotal configuration;

FIG. 6B is a focus view of an effector arc-link set of FIG. 6A;

FIG. 6C shows a geometric definition of FIG. 6A;

FIG. 7A is a perspective view of double inner frame pivotalconfiguration with yoke type outer frame;

FIG. 7B shows a geometric definition of FIG. 7A;

FIG. 7C is a side view of double inner frame pivotal configuration withyoke type outer frame;

FIG. 7D shows a geometric definition of FIG. 7C;

FIG. 8A is a perspective view of double inner frame pivotalconfiguration;

FIG. 8B is a front exploded view of FIG. 8A;

FIG. 8C is a side exploded view of FIG. 8A;

FIG. 9A is a perspective view of double inner frame pivotalconfiguration with yoke type outer frame;

FIG. 9B is a front exploded view of FIG. 9A;

FIG. 9C is a side exploded view of FIG. 9A.

DETAILED DESCRIPTION OF THE INVENTION

A spherical coordinates manipulating mechanism for inner frame pivotalconfiguration comprises an outer frame assembly, an inner frameassembly, four arc-link sets and at least one effector arc-link set,shown as FIG. 1A to 1C.

The outer frame assembly comprises an outer frame 4 o, four outerrotating members 4 a mounted to the outer frame 4 o, an outer support 4b mounted on a bottom of the outer frame 4 o, and an outer carrier 4 cprovided on the outer support 4 b. The outer frame 4 o is comprised of aplurality of brackets. The outer frame 4 o has four vertexes, eachdenoted by u_(i),i=1˜4, which are geometrically defined by an outergeometric tetrahedron. The four vertexes of the outer geometrictetrahedron are equidistant from the notional center of the outer frame4 o. The radius of a geometrical orbit of the outer frame 4 o is denotedby r₄. The vertex-to-center lines of the outer geometric tetrahedron arecoincided with the center of the outer frame 4 o. Each outer rotatingmember 4 a may be mounted on outboard of the outer frame 4 o (see FIG.2A and 2C) or on inboard of the outer frame 4 o (see FIG. 4A and 4C).But axle of the outer rotating member 4 a is required to coincide with avertex-to-center line of the outer geometric tetrahedron. An anglebetween the vertex-to-center line u_(i) and the other vertex-to-centerline u_(j) is represented by

_(ij), as shown in FIG. 2B and 2D.

The inner frame assembly comprises an inner frame 1 o, four innerrotating members 1 a, an inner support 1 b, and an inner carrier 1 c.The inner frame 1 o is comprised of a plurality of brackets. The innerframe 1 o has four vertexes, each denoted by v_(i), i=1˜4, which aregeometrically defined by an inner geometric tetrahedron. The fourvertexes of the inner geometric tetrahedron are equidistant from thenotional center of inner frame 1 o. The radius of a geometrical orbit ofthe inner frame 1 o is denoted by r₁. The vertex-to-center lines of theinner geometric tetrahedron are coincided with the center of the innerframe 1 o denoted by o_(v). Each inner rotating member 1 a may bemounted on an inboard of the inner frame 1 o (see FIG. 3A and 3C) or onan outboard of the inner frame 1 o (see FIG. 4B and 4D). But axle of theinner rotating member is required to coincide with a vertex-to-centerline of the inner geometric tetrahedron. An angle between thevertex-to-center line v_(i) and the other vertex-to-center line v_(j) isrepresented by Ω_(ij), as shown in FIGS. 3B and 3D.

The outer frame 4 o or the inner frame 1 o can be designed asclosed-loop structure or open-loop structure. Closed-loop design canenhance rigidity to avoid vibration or deformation. Open-loop design canreduce interference caused by arc-link sets. (see FIG. 4A-4C).

As referred to our pre-invention, if the outer frame 4 o or the innerframe 1 o is geometrically shaped as a regular geometric tetrahedron,the regular geometric tetrahedron frame may be easily designed andsimulated due to its simple and symmetry. Thus, six angles defined byeach pair of vertex-to-center lines of the outer frame 4 o are equal,approximately 109.5°, that is,

₁₂=

₁₃=

₁₄=

₂₃=

₂₄=

₃₄≈109.5°. The six angles defined by each pair of vertex-to-center linesof the inner frame 1 o are equal, approximately 109.5°, that is,Ω₁₂=Ω₁₃=Ω₁₄=Ω₂₃=Ω₂₄=Ω₃₄≈109.5°. It is to be noted that the regulargeometric tetrahedron is a configuration most likely to havesingularities. Therefore, for avoiding the singularities, it ispreferred that neither the outer frame 4 o nor the inner frame lo isdefined as a regular geometric tetrahedron.

According to FIG. 12-FIG. 15 referring to our pre-invention, these fourfigures and related descriptions are introduced for clearly proving thatthe operating range of an angle between any two vertex-to-center linesof a movable frame defined by flexible geometric tetrahedron which wasever tested and verified for or singularity avoidance can be determinedby proper parametric design. Evidently, the mentioned operating rangewhich is proved between 75° and 150°.

The four arc-link sets, each arc-link set includes an outer arc-link 3o, an inner arc-link 2 o and an arc-link rotating member 2 a, an end ofthe outer arc-link 3 o is pivotally connected with an end of the innerarc-link 2 o through an axle of arc-link rotating member 2 a, the otherend of outer arc-link 3 o is pivotally connected with an axle 4 e ofouter rotating member 4 a, and the other end of inner arc-link 2 o ispivotally connected with an axle 1 e of inner rotating member 1 a, eachaxle of arc-link rotating member 2 a, is normally directed into thecenter of the outer frame 4 o for concentrically rotating each arc-linkset along specified geometric orbit between the outer frame 4 o and theinner frame 1 o. The radius of each outer arc-link's geometric orbit isdenoted by r₃. The radius of each inner arc-link's geometric orbit isdenoted by r₂.

Arc-length of an outer arc-link 3 o, geometrically represented by α_(i),is defined as an angle between two axles of the outer rotating member 4a and the arc-link rotating member 2 a. Arc-length of an inner arc-link2 c, geometrically represented by β_(i), is defined as an angle betweentwo axles of inner rotating member 4 a and the arc-link rotating member2 a. There are total twelve axles in these four arc-link sets forpivoting including four outer rotating members 4 a, four arc-linkrotating members 2 a and four inner rotating members 1 a individually.All these axles must be concentric to ensure the outer frame 4 o and theinner frame 1 o to be concentric, therefore the final output torque canbe integrated via serial linking and parallel cooperating with thetwelve rotating members. as shown in FIG. 5A and FIG. 5B.

Our new allowed invention is inherited the same twelve axles geometricconfiguration from our pre-invention. An important issue is how to makea twelve axles mechanism operate smoothly without mutual interferenceand/or singularity while contemplating practical design and regulatinggeometric limitation. The sum of the arc lengths of any two of the outerarc-links 3 o must be greater than or equal to an angle between theircorresponding vertex-to-center lines of the outer geometric tetrahedron,namely α_(i)+α_(j)≧

_(ij). The sum of the arc lengths of any two of the inner arc-links 2 omust be equal to or greater than an angle between their correspondingvertex-to-center lines of the inner geometric tetrahedron, namelyβ_(i)+β_(j)≧Ω_(ij). For the sake of avoiding singularities, arc lengthsof four outer arc-links 3 o are not required to be equal, and arclengths of four inner arc-links 2 o are not required to be equal.

The at least one effector arc-link set is comprised of an effectorarc-link 5 x, an effector rotating member 5 a and an end effector 5 e.An end of the effector arc-link 5 x is mounted an end effector 5 e whichis radially extended opposite side relative to the inner frame 1 o. Theother end of the effector arc-link 5 x is pivoted through an axle ofouter rotating member 4 a and installed into the effector arc-linkrotating member 5 a, opposite side relative to the inner frame 1 o. Theradius of each effector arc-link's geometric orbit is denoted by G. Theeffector arc-link 5 x can be concentrically rotated along a geometricorbit between outer arc-link 3 o and outer frame 4 o, i.e. r₃<r_(x)<r₄.Arc-length of effector arc-link 5 x, geometrically represented by δ_(i),is defined as an angle between the axle of outer rotating member 5 a andthe extending line of the end effector 5 e mounted onto the sameeffector arc-link 5 x. Arc-length of the effector arc-link 5 x isgreater than 30° but less than 90° and is denoted by δ_(i), that is30°≦δ_(i)≦90°.

The end effector 5 e can be actuated by an effector rotating member 5 ato avoid being interfered by any inner arc-link 2 o or any outerarc-link 3 o. Thus, motion angle and moment of a spherical coordinatecan be carried out. The effector rotating member 5 a can be a torqueoutput device or a device for fastening rotational member so as tofasten the effector arc-link 5 x and prevent the inner frame 1 o or theouter frame 4 o from being interfered by the effector arc-link 5 x.

The end effector 5 e can be provided with a clamp or an extendingmechanism having an extendable piston rod as implemented in pneumaticcylinders, hydraulic cylinders or electric threaded rod for carryingpayload.

As shown in FIG. 6A-6C, the effector arc-link set can be provided ineither a single installation or double installation. The singleinstallation has only one effector arc-link set and the doubleinstallation has two effector arc-link sets. While the doubleinstallation may cause the spherical coordinates manipulating mechanismbe interfered by either the inner frame lo or the outer frame 4 o,resulting in a reduction of motion space, but it may induce moreapplications due to the provision of an extra effector arc-link set.

The outer frame 4 o and the outer support 4 b can be employed toconstitute a yoke type outer frame (see FIG. 7A and 7C). The geometricdefinition of the yoke type outer frame and two effector arc-links 5 xis shown in FIG. 7B and 7D.

The mechanism of our new allowed invention can be implemented as eitherouter frame pivotal configuration or inner frame pivotal configuration.For this divisional application, the geometric definition is chosen asinner frame pivotal configuration, i.e. r₃<r_(x)<r₄.

Referring to FIG. 1A to 1C, a first embodiment, namely: single innerframe pivotal configuration is shown. This embodiment is directed to aneffector arc-link set 5 pivotally connected to an inner frame 1 o. Theeffector arc-link 5 x is orbited between the outer frame 4 o and eachouter arc-links 3 o, i.e. r₃<r_(x)<r₄. The inner frame 1 o can bedesigned as a closed-loop structure to enhance rigidity to avoidvibration or deformation. The outer frame 4 o can be designed as anopen-loop structure to reduce interference by the effector arc-link 5 xwhen the outer frame 4 o rotates. An inner support 1 b is provided onthe inner frame 1 o, and an inner carrier 1 c is provided on the innersupport 1 b. The inner carrier 1 c can be weight plate for balance andreducing moment variation as applied in robot's shoulder joint and hipjoint.

Referring to FIG. 8A to 8C, a second embodiment, namely: double innerframe pivotal configuration is shown. This embodiment is directed to twoeffector arc-links 5 x pivotally connected to the inner frame 1 o. Theinner frame 1 o can be designed as closed-loop and the outer frame 4 ocan be designed as open-loop. The two effector arc-links 5 x are orbitedbetween the outer frame 4 o and each outer arc-link 3 o. The geometricorbit definition is still r₃<r_(x)<r₄. The two end effectors 5 e areopposite to each other in the inner frame 1 o. The outer carrier 4 c onthe outer support 4 b can be mounted with two opposite liftingmechanisms for balance and decreasing torque variation. It hasapplications for moving objects which requires large inertia or greattorque variations.

Referring to FIG. 9A to 9C, a third embodiment, namely: double innerframe pivotal configuration with yoke type outer frame is shown. Theprovision of the yoke type frame can prevent the outer frame 4 o frombeing interfered by the end effectors 5 e especially in the doubleinstallation. This embodiment is directed to two effector arc-links 5 xpivotally connected to the inner frame 1 o with yoke type outer frame 4o. The geometric orbit definition is still r₃<r_(x)<r₄. The open-loopdesign of the yoke type outer frame 4 o can prevent the invention frombeing interfered by the end effectors 5 e. The two end effectors 5 e areopposite to each other in the inner frame 1 o. The end effectors 5 e canbe provided with a half-spherical umbrella-shaped holder with amulti-passenger chamber or a large telescope provided thereon. The outercarrier 4 c on the outer support 4 b can be mounted with a cabin foramusement ride or a large telescope supporting base.

What is claimed is:
 1. A spherical coordinates manipulating mechanismfor inner frame pivotal configuration, comprising: an outer frameassembly comprising an outer frame including a plurality of brackets andfour outer rotating members installed into the outer frame, the outerframe being configured with four vertexes which can be used toconstitute an outer geometric tetrahedron, each axle of the outerrotating member being individually coincided with a vertex-to-centerline of the outer geometric tetrahedron, and these four vertex-to-centerlines being coincided with the center of the outer frame; an inner frameassembly comprising an inner frame including a plurality of brackets andfour inner rotating members installed into the inner frame, the innerframe being configured with four vertexes which can be used toconstitute an inner geometric tetrahedron, each axle of the innerrotating member being individually coincided with a vertex-to-centerline of the inner geometric tetrahedron, and these four vertex-to-centerlines being coincided with the center of the inner frame; four arc-linksets, each arc-link set comprising an outer arc-link, an inner arc-linkand an arc-link rotating member, an end of the outer arc-link beingpivotally connected with an end of the inner arc-link through an axle ofarc-link rotating member, the other end of the outer arc-link beingpivotally connected with an axle of the outer rotating member, and theother end of the inner arc-link being pivotally connected with an axleof the inner rotating member, each axle of the arc-link rotating membersbeing normally directed into the center of the outer frame forconcentrically rotating each arc-link set along specified geometricorbit between the outer frame and the inner frames, wherein sum ofarc-lengths of any two of the outer arc-links is greater than or equalto an angle between their corresponding vertex-to-center lines of theouter geometric tetrahedron; wherein sum of arc-lengths of any two ofthe inner arc-links is greater than or equal to an angle between theircorresponding vertex-to-center lines of the inner geometric tetrahedron;the at least one effector arc-link set comprising an effector arc-link,about an effector rotating member and an end effector, an end of theeffector arc-link is mounted an end effector which is radially extendedopposite side relative to the inner frame, the other end of the effectorarc-link is pivoted through an axle of inner rotating member andinstalled into the effector rotating member opposite side relative tothe inner frame, and the effector arc-link can be concentrically rotatedalong a geometric orbit between the outer arc-link and the outer frame,wherein the arc-length of the effector arc-link is greater than 30° butless than 90°.
 2. The mechanism according to claim 1, wherein the innerframe can be designed as closed-loop structure or open-loop structure,wherein the outer frame can be designed as open-loop structure orclosed-loop structure.
 3. The mechanism according to claim 1, whereinthe outer rotating member can be a torque output device or an anglesensor or a bearing with an axle, the arc-link rotating member can beassembled by a torque output device and/or an angle sensor or a bearingwith an axle, the inner rotating member can be a torque output device oran angle sensor or a bearing with an axle, the effector rotating memberis a torque output device or a device for fastening rotational member.4. The mechanism according to claim 1, wherein the outer frame assemblyfurther comprising an outer support disposed on the outer frame, and anouter carrier disposed on the outer support, wherein the inner frameassembly further comprising an inner support disposed on the innerframe, and an inner carrier disposed on the inner support.